diff --git a/RELEASES.md b/RELEASES.md index 4103361b93..e175050eaf 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,9 +1,13 @@ -Version 0.8.17 (2022-XX-XX) +Version 0.8.17 (2022-11-XX) ======================== * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. * New driver monitoring model * New end-to-end distracted trigger +* Experimental driving mode + * End-to-end longitudinal control + * Stops for red lights and stop signs + * openpilot defaults to chill mode, enable experimental in settings * Self-tuning torque lateral controller parameters * Parameters learned live for each car * Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models @@ -12,7 +16,7 @@ Version 0.8.17 (2022-XX-XX) * Matched speeds shown on car's dash * Improved update experience * Border turns grey while overriding steering - * Added button to bookmark events while driving; view them later in comma connect + * Bookmark events while driving; view them in comma connect * AGNOS 6 * tools: new and improved cabana thanks to deanlee! * Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! diff --git a/common/params.cc b/common/params.cc index 155bc88487..e17d1f1b13 100644 --- a/common/params.cc +++ b/common/params.cc @@ -102,7 +102,7 @@ std::unordered_map keys = { {"DashcamOverride", PERSISTENT}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, - {"EndToEndLong", PERSISTENT}, + {"ExperimentalMode", PERSISTENT}, {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 1adbba4171..0bdaadf6ef 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -147,7 +147,7 @@ class Controls: if not self.CP.experimentalLongitudinalAvailable: self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: - self.params.remove("EndToEndLong") + self.params.remove("ExperimentalMode") self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 19ea40a8f4..2fa13bfb15 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -66,7 +66,7 @@ class LongitudinalPlanner: self.solverExecutionTime = 0.0 def read_param(self): - e2e = self.params.get_bool('EndToEndLong') and self.CP.openpilotLongitudinalControl + e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl self.mpc.mode = 'blended' if e2e else 'acc' def parse_model(self, model_msg, model_error): diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index a972bfb073..ca070f1c3f 100644 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -26,7 +26,7 @@ class TestCruiseSpeed(unittest.TestCase): def test_cruise_speed(self): params = Params() for e2e in [False, True]: - params.put_bool("EndToEndLong", e2e) + params.put_bool("ExperimentalMode", e2e) for speed in np.arange(5, 40, 5): print(f'Testing {speed} m/s') cruise_speed = float(speed) diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 3534f58235..0535caab84 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -27,7 +27,7 @@ class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): params = Params() for e2e in [False, True]: - params.put_bool("EndToEndLong", e2e) + params.put_bool("ExperimentalMode", e2e) for speed in np.arange(0, 40, 5): print(f'Testing {speed} m/s') v_lead = float(speed) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index c7c2915878..7cc95b104a 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -143,11 +143,11 @@ def run_maneuver_worker(k): params = Params() man = maneuvers[k] - params.put_bool("EndToEndLong", True) + params.put_bool("ExperimentalMode", True) print(man.title, ' in e2e mode') valid, _ = man.evaluate() self.assertTrue(valid, msg=man.title) - params.put_bool("EndToEndLong", False) + params.put_bool("ExperimentalMode", False) print(man.title, ' in acc mode') valid, _ = man.evaluate() self.assertTrue(valid, msg=man.title) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 51b5ce6bd7..29069155b2 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -36,6 +36,21 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/offroad/icon_openpilot.png", false, }, + { + "ExperimentalMode", + tr("Experimental mode"), + "", + "../assets/offroad/icon_road.png", + false, + }, + { + "ExperimentalLongitudinalEnabled", + tr("Experimental openpilot longitudinal control"), + tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.
\ + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control."), + "../assets/offroad/icon_speed_limit.png", + true, + }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), @@ -64,20 +79,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/offroad/icon_disengage_on_accelerator.svg", false, }, - { - "EndToEndLong", - tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"), - "", - "../assets/offroad/icon_road.png", - false, - }, - { - "ExperimentalLongitudinalEnabled", - tr("Experimental openpilot longitudinal control"), - tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB."), - "../assets/offroad/icon_speed_limit.png", - true, - }, #ifdef ENABLE_MAPS { "NavSettingTime24h", @@ -116,9 +117,15 @@ void TogglesPanel::showEvent(QShowEvent *event) { } void TogglesPanel::updateToggles() { - auto e2e_toggle = toggles["EndToEndLong"]; + auto e2e_toggle = toggles["ExperimentalMode"]; auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; - const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental."); + const QString e2e_description = tr("\ + openpilot defaults to driving in chill mode.\ + Experimental mode enables alpha-level features that aren't ready for chill mode. \ + Experimental features are listed below:\ +
\ +

🌮 End-to-End Longitudinal Control 🌮

\ + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { @@ -140,7 +147,7 @@ void TogglesPanel::updateToggles() { } else { // no long for now e2e_toggle->setEnabled(false); - params.remove("EndToEndLong"); + params.remove("ExperimentalMode"); const QString no_long = tr("openpilot longitudinal control is not currently available for this car."); const QString exp_long = tr("Enable experimental longitudinal control to enable this."); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 15672d33c1..37c1913743 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -461,7 +461,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { // paint path QLinearGradient bg(0, height(), 0, height() / 4); float start_hue, end_hue; - if (scene.end_to_end_long) { + if (scene.experimental_mode) { const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); float acceleration_future = 0; if (acceleration.getZ().size() > 16) { @@ -567,7 +567,7 @@ void AnnotatedCameraWidget::paintGL() { } else if (v_ego > 15) { wide_cam_requested = false; } - wide_cam_requested = wide_cam_requested && s->scene.end_to_end_long; + wide_cam_requested = wide_cam_requested && s->scene.experimental_mode; // TODO: also detect when ecam vision stream isn't available // for replay of old routes, never go to widecam wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 5ee2d86756..039ad7b2a4 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -966,22 +966,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 エンドツーエンドのアクセル制御 (超α版) 🌮 - Experimental openpilot longitudinal control 実験段階のopenpilotによるアクセル制御 - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>警告: openpilotによるアクセル制御は実験段階であり、AEBを無効化します。</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。 - openpilot longitudinal control is not currently available for this car. openpilotによるアクセル制御は、この車では現在利用できません。 @@ -1014,6 +1002,18 @@ location set Show map on left side when in split screen view. 分割画面表示の場合、ディスプレイの左側にマップを表示します。 + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index f58c4f34d5..e9b4943650 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -966,22 +966,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 e2e 롱컨트롤 사용 (매우 실험적) 🌮 - Experimental openpilot longitudinal control openpilot 롱컨트롤 (실험적) - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) - openpilot longitudinal control is not currently available for this car. 현재 이 차량에는 openpilot 롱컨트롤을 사용할 수 없습니다. @@ -1014,6 +1002,18 @@ location set Show map on left side when in split screen view. 분할 화면 보기에서 지도를 왼쪽에 표시합니다. + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 6774555b73..a5187af50f 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -970,22 +970,10 @@ trabalho definido Upload data from the driver facing camera and help improve the driver monitoring algorithm. Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor. - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 End-to-end longitudinal (experimental) 🌮 - Experimental openpilot longitudinal control Controle longitudinal experimental openpilot - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - Deixe o modelo controlar o acelerador e os freios. openpilot irá conduzir como pensa que um humano faria. Super experimental. - openpilot longitudinal control is not currently available for this car. controle longitudinal openpilot não está disponível para este carro. @@ -1018,6 +1006,18 @@ trabalho definido Show map on left side when in split screen view. Exibir mapa do lado esquerdo quando a tela for dividida. + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 6189a235e8..44e707e49c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -964,22 +964,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 端对端纵向控制（实验性功能） 🌮 - Experimental openpilot longitudinal control - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 - openpilot longitudinal control is not currently available for this car. @@ -1012,6 +1000,18 @@ location set Show map on left side when in split screen view. 在分屏模式中，将地图置于屏幕左侧。 + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0b0dbe4ae5..274cff3a5a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -966,22 +966,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 端對端縱向控制（實驗性功能） 🌮 - Experimental openpilot longitudinal control 使用 openpilot 縱向控制（實驗） - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 - openpilot longitudinal control is not currently available for this car. openpilot 縱向控制目前不適用於這輛車。 @@ -1014,6 +1002,18 @@ location set Show map on left side when in split screen view. 進入分割畫面後，地圖將會顯示在畫面的左側。 + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. + + Updater diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 945218ec11..970448359e 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -174,7 +174,7 @@ void ui_update_params(UIState *s) { auto params = Params(); s->scene.is_metric = params.getBool("IsMetric"); s->scene.map_on_left = params.getBool("NavSettingLeftSide"); - s->scene.end_to_end_long = params.getBool("EndToEndLong"); + s->scene.experimental_mode = params.getBool("ExperimentalMode"); } void UIState::updateStatus() { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index e550afd5f2..38e2ffe3ce 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -104,7 +104,7 @@ typedef struct UIScene { QPointF lead_vertices[2]; float light_sensor; - bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long; + bool started, ignition, is_metric, map_on_left, longitudinal_control, experimental_mode; uint64_t started_frame; } UIScene;